Method and apparatus for determining calibration options in a motion control system

• US 6,850,806 B2
• Filed: 04/17/2002
• Issued: 02/01/2005
• Est. Priority Date: 04/16/1999
• Status: Expired due to Term

• Current Assignee: Siemens Industry Incorporated (Siemens AG)
• Original Assignee: Siemens Energy & Automation Incorporated (Siemens AG)
• Inventors: Yutkowitz, Stephen J.
• Primary Examiner(s): Knight, Anthony
• Assistant Examiner(s): BARNES-BULLOCK, CRYSTAL JOY
• Application Number:
  US10/124,119
• Publication Number:
  US 20030056147A1
• Time in Patent Office: 1,021 Days
• Field of Search: 700/32, 700/37, 700/52, 700/54, 700/56, 714/25, 702/84, 702/85, 702/90, 702/94, 702/105, 702/183, 702/185, 703/2, 703/6, 703/13, 703/14, 703/17, 318/632
• US Class Current: 700/54
• CPC Class Codes: G05B 11/28 using pulse-height modulation; using pulse-width modulation
• CPC Class Codes: G05B 11/42 for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
• CPC Class Codes: G05B 13/042 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/39015 With different manipulator configurations, contact known sphere, ballbar
• CPC Class Codes: G05B 2219/49181 Calculation, estimation, creation of error model using measured error values
• CPC Class Codes: G05B 2219/50139 Calibration, setting tool after measurement on tool

Abstract

In one embodiment, a method of and apparatus for determining calibration options in a motion control system is provided. The method includes the steps of measuring error in a commanded motion, modeling the error, identifying sources of the error; and predicting a degree to which applying compensation for one of the sources of the error might affect the error.

Claims

1. A method of determining calibration options in a motion control system using the motion control system comprising the acts of:

a) measuring error in a commanded motion;

b) modeling the error;

c) identifying sources of the error; and

d) predicting a degree to which applying compensation for one of the sources of the error might affect the error;

e) providing a diagnostics interface displaying the sources of error and an indication of the degree to which applying compensation for a respective one of the sources of error might affect the error.

2. The method of claim 1, further comprising the act of applying compensation for one of the sources of error.

3. The method of claim 1, further comprising the act of determining an estimate of the compensation that might be applied for one of the sources of the error.

4. The method of claim 1, wherein the act of providing a diagnostics interface further comprises the act of allowing a user of the motion control system to determine an order in which the sources of error are displayed.

5. The method of claim 1, wherein the act of providing a diagnostics interface further comprises the act of allowing a user of the motion control system to determine whether the sources of error are displayed in an order according to one of a ranking based on relative contribution to the error and a categorical-based grouping.

6. A computer readable medium comprising instructions capable of implementing a method of determining calibration options in a motion control system using the motion control system, the method comprising:

a) measuring error in a commanded motion;

b) modeling the error;

c) identifying sources of the error;

d) predicting a degree to which applying compensation for one of the sources of the error might affect the error; and

e) providing a diagnostic interface displaying the sources of error and an indication of the degree to which applying compensation for a respective one of the sources of error might affect the error.

7. A machine tool, comprising:

a) an actuator having an attached mechanical member;

b) a motion command generator adapted to produce motion commands capable of controlling the actuator;

c) a compensator adapted to compensate the motion commands based upon at least one compensation parameter; and

d) a controller in communication with the actuator, the motion command generator, and the compensator, and adapted to;

i) measure error in a commanded motion;

ii) model the error;

iii) identify sources of the error;

iv) predict a degree to which applying compensation for one of the sources of the error might affect the error;

v) providing a diagnostic interface displaying the sources of error and an indication of the decree to which applying compensation for a respective one of the sources of error might affect the error.